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<div class="title">greedy_verification.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_HV_GREEDY_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_HV_GREEDY_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/hv/hypotheses_verification.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ModelT, <span class="keyword">typename</span> SceneT&gt;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_verification.html">   53</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_greedy_verification.html">GreedyVerification</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification</a>&lt;ModelT, SceneT&gt;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification&lt;ModelT, SceneT&gt;::mask_</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification&lt;ModelT, SceneT&gt;::scene_cloud_downsampled_</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification&lt;ModelT, SceneT&gt;::scene_downsampled_tree_</a>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification&lt;ModelT, SceneT&gt;::visible_models_</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification&lt;ModelT, SceneT&gt;::resolution_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification&lt;ModelT, SceneT&gt;::inliers_threshold_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="comment">/*</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">       * \brief Recognition model using during the verification</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_verification_1_1_recognition_model.html">   65</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1_greedy_verification_1_1_recognition_model.html">RecognitionModel</a></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        std::vector&lt;int&gt; explained_;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typename</span> pcl::PointCloud&lt;ModelT&gt;::Ptr cloud_;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keywordtype">int</span> bad_information_;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keywordtype">int</span> good_information_;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keywordtype">int</span> id_;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keywordtype">float</span> regularizer_;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      };</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="comment">/*</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">       * \brief Sorts recognition models based on the number of explained scene points and visible outliers</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="structpcl_1_1_greedy_verification_1_1sort_models_class.html">   79</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_greedy_verification_1_1sort_models_class.html">sortModelsClass</a></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        operator() (<span class="keyword">const</span> boost::shared_ptr&lt;RecognitionModel&gt; &amp; n1, <span class="keyword">const</span> boost::shared_ptr&lt;RecognitionModel&gt; &amp; n2)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <span class="keywordtype">float</span> val1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(n1-&gt;good_information_) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(n1-&gt;bad_information_) * n1-&gt;regularizer_;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <span class="keywordtype">float</span> val2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(n2-&gt;good_information_) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(n2-&gt;bad_information_) * n2-&gt;regularizer_;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <span class="keywordflow">return</span> val1 &gt; val2;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      } sortModelsOp;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="comment">/*</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment">       * \brief Recognition model indices to keep track of the sorted recognition hypotheses</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structpcl_1_1_greedy_verification_1_1model_indices.html">   94</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_greedy_verification_1_1model_indices.html">modelIndices</a></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keywordtype">int</span> index_;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        boost::shared_ptr&lt;RecognitionModel&gt; model_;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      };</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="comment">/*</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment">       * \brief Sorts model indices similar to sortModelsClass</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="structpcl_1_1_greedy_verification_1_1sort_model_indices_class.html">  103</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_greedy_verification_1_1sort_model_indices_class.html">sortModelIndicesClass</a></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        operator() (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_greedy_verification_1_1model_indices.html">modelIndices</a> &amp; n1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_greedy_verification_1_1model_indices.html">modelIndices</a> &amp; n2)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          <span class="keywordtype">float</span> val1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(n1.model_-&gt;good_information_) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(n1.model_-&gt;bad_information_) * n1.model_-&gt;regularizer_;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          <span class="keywordtype">float</span> val2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(n2.model_-&gt;good_information_) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(n2.model_-&gt;bad_information_) * n2.model_-&gt;regularizer_;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="keywordflow">return</span> val1 &gt; val2;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      } sortModelsIndicesOp;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_verification.html#a0bbd97abe7d44567f817e351824a2c40">  115</a></span>&#160;      std::vector&lt;modelIndices&gt; <a class="code" href="classpcl_1_1_greedy_verification.html#a0bbd97abe7d44567f817e351824a2c40">indices_models_</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_verification.html#a282634bc5ce0be2105115c1f31edc881">  118</a></span>&#160;      std::vector&lt;boost::shared_ptr&lt;RecognitionModel&gt; &gt; <a class="code" href="classpcl_1_1_greedy_verification.html#a282634bc5ce0be2105115c1f31edc881">recognition_models_</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_verification.html#a6a99c69970d79689011a64a0b5de7251">  121</a></span>&#160;      std::vector&lt;std::vector&lt;boost::shared_ptr&lt;RecognitionModel&gt; &gt; &gt; <a class="code" href="classpcl_1_1_greedy_verification.html#a6a99c69970d79689011a64a0b5de7251">points_explained_by_rm_</a>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_verification.html#ad440a1165148aa50dbabfcda8b25d1cd">  124</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_greedy_verification.html#ad440a1165148aa50dbabfcda8b25d1cd">regularizer_</a>;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      initialize ();</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_verification.html#a8f3c213fcc70590cecc1a332a9bb0d7c">  132</a></span>&#160;      <a class="code" href="classpcl_1_1_greedy_verification.html#a8f3c213fcc70590cecc1a332a9bb0d7c">sortModels</a> ()</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        indices_models_.clear ();</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; recognition_models_.size (); i++)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          <a class="code" href="structpcl_1_1_greedy_verification_1_1model_indices.html">modelIndices</a> mi;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          mi.index_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          mi.model_ = recognition_models_[i];</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          indices_models_.push_back (mi);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        std::sort (indices_models_.begin (), indices_models_.end (), sortModelsIndicesOp);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="comment">//sort also recognition models</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        std::sort (recognition_models_.begin (), recognition_models_.end (), sortModelsOp);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_verification.html#aae424810f1964a9d006c790e6f977430">  150</a></span>&#160;      <a class="code" href="classpcl_1_1_greedy_verification.html#aae424810f1964a9d006c790e6f977430">updateGoodInformation</a> (<span class="keywordtype">int</span> i)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; recognition_models_[i]-&gt;explained_.size (); k++)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          <span class="comment">//update good_information_ for all hypotheses that were explaining the same points as hypothesis i</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> kk = 0; kk &lt; points_explained_by_rm_[recognition_models_[i]-&gt;explained_[k]].size (); kk++)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            (points_explained_by_rm_[recognition_models_[i]-&gt;explained_[k]])[kk]-&gt;good_information_--;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;            (points_explained_by_rm_[recognition_models_[i]-&gt;explained_[k]])[kk]-&gt;bad_information_++;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_verification.html#a110013b5dd5810ab1e5f2d660f2ed2cc">  168</a></span>&#160;      <a class="code" href="classpcl_1_1_greedy_verification.html#a110013b5dd5810ab1e5f2d660f2ed2cc">GreedyVerification</a> (<span class="keywordtype">float</span> reg = 1.5f) :</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification</a>&lt;ModelT, SceneT&gt; ()</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        regularizer_ = reg;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      verify ();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    };</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;}</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/impl/hv/greedy_verification.hpp&gt;</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_RECOGNITION_HV_GREEDY_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_greedy_verification_1_1_recognition_model_html"><div class="ttname"><a href="classpcl_1_1_greedy_verification_1_1_recognition_model.html">pcl::GreedyVerification::RecognitionModel</a></div><div class="ttdef"><b>Definition:</b> greedy_verification.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_verification_html"><div class="ttname"><a href="classpcl_1_1_greedy_verification.html">pcl::GreedyVerification</a></div><div class="ttdoc">A greedy hypothesis verification method</div><div class="ttdef"><b>Definition:</b> greedy_verification.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_verification_html_a0bbd97abe7d44567f817e351824a2c40"><div class="ttname"><a href="classpcl_1_1_greedy_verification.html#a0bbd97abe7d44567f817e351824a2c40">pcl::GreedyVerification::indices_models_</a></div><div class="ttdeci">std::vector&lt; modelIndices &gt; indices_models_</div><div class="ttdoc">Recognition model and indices</div><div class="ttdef"><b>Definition:</b> greedy_verification.h:115</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_verification_html_a110013b5dd5810ab1e5f2d660f2ed2cc"><div class="ttname"><a href="classpcl_1_1_greedy_verification.html#a110013b5dd5810ab1e5f2d660f2ed2cc">pcl::GreedyVerification::GreedyVerification</a></div><div class="ttdeci">GreedyVerification(float reg=1.5f)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> greedy_verification.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_verification_html_a282634bc5ce0be2105115c1f31edc881"><div class="ttname"><a href="classpcl_1_1_greedy_verification.html#a282634bc5ce0be2105115c1f31edc881">pcl::GreedyVerification::recognition_models_</a></div><div class="ttdeci">std::vector&lt; boost::shared_ptr&lt; RecognitionModel &gt; &gt; recognition_models_</div><div class="ttdoc">Recognition models (hypotheses to be verified)</div><div class="ttdef"><b>Definition:</b> greedy_verification.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_verification_html_a6a99c69970d79689011a64a0b5de7251"><div class="ttname"><a href="classpcl_1_1_greedy_verification.html#a6a99c69970d79689011a64a0b5de7251">pcl::GreedyVerification::points_explained_by_rm_</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; boost::shared_ptr&lt; RecognitionModel &gt; &gt; &gt; points_explained_by_rm_</div><div class="ttdoc">Recognition models that explain a scene points.</div><div class="ttdef"><b>Definition:</b> greedy_verification.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_verification_html_a8f3c213fcc70590cecc1a332a9bb0d7c"><div class="ttname"><a href="classpcl_1_1_greedy_verification.html#a8f3c213fcc70590cecc1a332a9bb0d7c">pcl::GreedyVerification::sortModels</a></div><div class="ttdeci">void sortModels()</div><div class="ttdoc">Sorts the hypotheses for the greedy approach</div><div class="ttdef"><b>Definition:</b> greedy_verification.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_verification_html_aae424810f1964a9d006c790e6f977430"><div class="ttname"><a href="classpcl_1_1_greedy_verification.html#aae424810f1964a9d006c790e6f977430">pcl::GreedyVerification::updateGoodInformation</a></div><div class="ttdeci">void updateGoodInformation(int i)</div><div class="ttdoc">Updates conflicting recognition hypotheses when a hypothesis is accepted</div><div class="ttdef"><b>Definition:</b> greedy_verification.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_verification_html_ad440a1165148aa50dbabfcda8b25d1cd"><div class="ttname"><a href="classpcl_1_1_greedy_verification.html#ad440a1165148aa50dbabfcda8b25d1cd">pcl::GreedyVerification::regularizer_</a></div><div class="ttdeci">float regularizer_</div><div class="ttdoc">Weighting for outliers</div><div class="ttdef"><b>Definition:</b> greedy_verification.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1_hypothesis_verification_html"><div class="ttname"><a href="classpcl_1_1_hypothesis_verification.html">pcl::HypothesisVerification</a></div><div class="ttdoc">Abstract class for hypotheses verification methods</div><div class="ttdef"><b>Definition:</b> hypotheses_verification.h:57</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_greedy_verification_1_1model_indices_html"><div class="ttname"><a href="structpcl_1_1_greedy_verification_1_1model_indices.html">pcl::GreedyVerification::modelIndices</a></div><div class="ttdef"><b>Definition:</b> greedy_verification.h:95</div></div>
<div class="ttc" id="astructpcl_1_1_greedy_verification_1_1sort_model_indices_class_html"><div class="ttname"><a href="structpcl_1_1_greedy_verification_1_1sort_model_indices_class.html">pcl::GreedyVerification::sortModelIndicesClass</a></div><div class="ttdef"><b>Definition:</b> greedy_verification.h:104</div></div>
<div class="ttc" id="astructpcl_1_1_greedy_verification_1_1sort_models_class_html"><div class="ttname"><a href="structpcl_1_1_greedy_verification_1_1sort_models_class.html">pcl::GreedyVerification::sortModelsClass</a></div><div class="ttdef"><b>Definition:</b> greedy_verification.h:80</div></div>
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